// Set the text for the input-field to display
void InputField::SetText(std::string text)
{
this->text = text;
// Update the displayed text
UpdateDisplayText();
}
bool nn_testing_app::Update()
{
if(frame_by_frame)
{
if(!advance)
{
return core->Update();
}
advance = false;
}
Number elapsed = core->getElapsed();
double timestep = 0.01;
std::vector< double > inputs;
problem_t::state problem_st;
problem_st.agents.resize(1);
problem_st.agents[0] = ship_st;
problem_t::nn_agent_impl< 2, 0 > agent(ship_st.thruster_cfg->num_thrusters());
//agent.nn = boost::shared_ptr< FANN::neural_net >(new FANN::neural_net(nn));
agent.nn = nn;
thruster_base::thruster_activation ta = agent(problem_st.get_sensor_state(0));
dim_traits::force_t thrust;
dim_traits::torque_t torque;
boost::tie(thrust, torque) = ship_st.thruster_cfg->calc_resultants(ta, ship_st.c_of_mass);
double thruster_power = 0.02;//0.001;
dim_traits::force_t thrust_W = dim_traits::transform_dir(thrust, ship_st.orientation);
ship_st.lin_velocity += thrust_W * thruster_power * timestep;
dim_traits::torque_t torque_W = dim_traits::transform_dir(torque, ship_st.orientation);
ship_st.ang_velocity += torque_W * thruster_power * timestep;
/* todo:
st.delta -= st.omega * timestep;
// Keep delta in the range [-Pi, Pi)
st.delta = std::fmod(st.delta + boost::math::double_constants::pi, 2.0 * boost::math::double_constants::pi) -
boost::math::double_constants::pi;
*/
ship_st.position += ship_st.lin_velocity * timestep;
// Now update the bot's world space facing, using the new angular velocity
ship_st.orientation += ship_st.ang_velocity * timestep;
// TODO: facing = std::fmod(facing, 2.0 * boost::math::double_constants::pi);
/* Vector2d vel2d_world = Eigen::Rotation2D< double >(facing) * Vector2d(st.lin_vel[0], st.lin_vel[1]);
*/
for(size_t i = 0; i < ship_st.thruster_cfg->num_thrusters(); ++i)
{
if(ta[i])
{
thruster_sys[i].t.engage();
}
else
{
thruster_sys[i].t.disengage();
}
}
ship_base->setPosition(to_polycode_vector(ship_st.position));// * SHIP_BASE_SIZE / 2);
#if 0
// Instead of moving the ship, move the background
Vector3 cur_pos = grid->getPosition();
cur_pos.x += -SCREEN_WIDTH / 2 + vel2d_world[0] * SHIP_BASE_SIZE / 2;
// cur_pos.y += -SCREEN_HEIGHT / 2 + vel2d_world[1] * SHIP_BASE_SIZE / 2;
cur_pos.x = std::fmod(cur_pos.x, GRID_SCALE);
// cur_pos.y = std::fmod(cur_pos.y, GRID_SCALE);
grid->setPosition(SCREEN_WIDTH / 2 + cur_pos.x, /*SCREEN_HEIGHT / 2 +*/ cur_pos.y);
#endif
ship_base->setRotation(ship_st.orientation * 360.0 / (2.0 * PI));
/* if(lin_vel_line != nullptr)
{
ship_base->removeChild(lin_vel_line);
delete lin_vel_line;
}
lin_vel_line = new ScreenLine(Vector2(0, 0), Vector2(st.lin_vel[0] * 30, st.lin_vel[1] * 30));
ship_base->addChild(lin_vel_line);
if(lin_acc_line != nullptr)
{
ship_base->removeChild(lin_acc_line);
delete lin_acc_line;
}
lin_acc_line = new ScreenLine(Vector2(0, 0), Vector2(thrust[0] * 30, thrust[1] * 30));
lin_acc_line->setColor(1.0, 0.0, 0.0, 1.0);
ship_base->addChild(lin_acc_line);
*/
for(int t = 0; t < ship_st.thruster_cfg->num_thrusters(); ++t)
{
if(!thruster_sys[t].t.is_engaged())
{
thruster_sys[t].t.cool_down(elapsed);
}
thruster_shapes[t]->setColor(1.0, 1.0 - thruster_sys[t].t.temperature(), 1.0 - thruster_sys[t].t.temperature(), 1.0);
}
UpdateDisplayText();
return core->updateAndRender();
}
